mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-24 15:20:34 +08:00
Matthias Grob
65 lines
2.7 KiB
C++
65 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "StickTiltXY.hpp"
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#include <geo/geo.h>
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#include "Sticks.hpp"
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using namespace matrix;
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StickTiltXY::StickTiltXY(ModuleParams *parent) :
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ModuleParams(parent)
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{
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updateParams();
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}
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void StickTiltXY::updateParams()
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{
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ModuleParams::updateParams();
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// Consider maximum tilt but only between [0.02,3]g sideways acceleration -> ~[1,71]° tilt
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// Constrain tilt already because tanf(90+°) will give negative result
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const float maximum_tilt = math::radians(math::constrain(_param_mpc_man_tilt_max.get(), 0.f, 89.f));
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_maximum_acceleration = math::constrain(tanf(maximum_tilt), .02f, 3.f) * CONSTANTS_ONE_G;
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}
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Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const float dt, const float yaw,
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const float yaw_setpoint)
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{
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Sticks::limitStickUnitLengthXY(stick_xy);
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_man_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
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stick_xy = _man_input_filter.update(stick_xy);
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Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_setpoint);
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return stick_xy * _maximum_acceleration;
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}
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